WO2008072089A2 - Système et procédé de direction assistée - Google Patents

Système et procédé de direction assistée Download PDF

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Publication number
WO2008072089A2
WO2008072089A2 PCT/IB2007/004236 IB2007004236W WO2008072089A2 WO 2008072089 A2 WO2008072089 A2 WO 2008072089A2 IB 2007004236 W IB2007004236 W IB 2007004236W WO 2008072089 A2 WO2008072089 A2 WO 2008072089A2
Authority
WO
WIPO (PCT)
Prior art keywords
drive assist
drive
vehicle
driver
wakefulness
Prior art date
Application number
PCT/IB2007/004236
Other languages
English (en)
Other versions
WO2008072089A3 (fr
Inventor
Isahiko Tanaka
Fumio Sugaya
Original Assignee
Toyota Jidosha Kabushiki Kaisha
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toyota Jidosha Kabushiki Kaisha filed Critical Toyota Jidosha Kabushiki Kaisha
Priority to CN2007800445287A priority Critical patent/CN101547819B/zh
Priority to US12/310,120 priority patent/US20090198415A1/en
Priority to EP07859280A priority patent/EP2102050B1/fr
Publication of WO2008072089A2 publication Critical patent/WO2008072089A2/fr
Publication of WO2008072089A3 publication Critical patent/WO2008072089A3/fr

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/02—Alarms for ensuring the safety of persons
    • G08B21/06—Alarms for ensuring the safety of persons indicating a condition of sleep, e.g. anti-dozing alarms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B60W40/09—Driving style or behaviour
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B60W2040/0818—Inactivity or incapacity of driver
    • B60W2040/0827—Inactivity or incapacity of driver due to sleepiness
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera

Definitions

  • the present invention relates to a drive assist system and method for assisting a driver while a vehicle is being driven.
  • the drive assist function such as outputting of the warning is stopped when the vehicle speed is at or below the minimum operational threshold speed , regardless of the level of wakefulness of the driver. Stopping the drive assist function when the level of wakefulness of the driver is low can not provide drive assist to the driver, which may lead, for example, to the vehicle moving out of the lane.
  • the present invention provides a drive assist system and method that provide drive assist in accordance with the level of wakefulness of a driver.
  • An aspect of the invention is a drive assist system includes drive assist means for providing drive assist to a driver while driving a vehicle, and drive-assist limitation means for limiting the drive assist when the vehicle speed is at or below a minimum operational threshold speed.
  • the drive assist system further includes wakefulness level determination means for determining the level of wakefulness of the driver.
  • the limitation of the drive assist by the drive-assist limitation means is relaxed in accordance with the wakefulness level decreases.
  • the other aspect of the invention is a drive assist method that has a similar constitution as the abovementioned drive assist system.
  • the limitation of the drive assist may be relaxed when it is determined that the wakefulness level decreases. This prevents the limitation of the drive assist regardless of the level of wakefulness of the driver when the vehicle speed is at or below the minimum operational threshold speed.
  • the drive assist may be provided according to the level of wakefulness of the driver, thereby improving the reliability.
  • Relaxing the limitation of the drive assist may include setting the minimum operational threshold speed to a lower speed than in a normal state and canceling the limitation of the drive assist.
  • the "minimum operational threshold speed" is a criterion speed for determining whether to limit the execution of the drive assist.
  • the “wakefulness level” indicates the sleepiness of the driver. For example, “the wakefulness level is high” when the driver is able to drive normally, while “the wakefulness level is low” when the driver is drowsy, and therefore less attentive, and unable to drive normally.
  • the drive-assist limitation means may relax the limitation of the drive assist is by reducing the minimum operational threshold speed when the level of wakefulness decreases. Reducing the minimum operational threshold speed in accordance with the decrease in wakefulness level allows to adequately execute the drive assist in accordance with the level of wakefulness of the driver.
  • the drive-assist limitation means may set the minimum operational threshold speed to a lower value when the wakefulness level is low than when the wakefulness level is high.
  • the limitation of the drive assist may be relaxed by canceling the limitation of the drive assist when the level of wakefulness is less than a predetermined value.
  • the drive-assist limitation means may count a number of times when the vehicle speed is below the minimum operational threshold speed, and limits the drive assist when the number of times when the vehicle speed is below the minimum operational threshold speed exceeds a predetermined number.
  • the drive-assist limitation means may increase the predetermined number when the wakefulness level is low compared to that when the wakefulness level is high.
  • the drive assist means may execute the drive assist by recognizing a lane in which the vehicle is traveling, determining whether the vehicle will move out of the lane based on positional relationship between the lane and the vehicle, and issuing a warning to the driver when it is determined that the vehicle will move out of the lane.
  • the drive assist may thus include issuing a warning of the possibility of a departure from the lane, and relaxing the limitation of the drive assist according to the wakefulness level.
  • the drive assist may be appropriately executed even when the wakefulness level decreases and the vehicle speed is at or below the minimum operational threshold speed. Thus, a warning may be output to notify the driver of the possibility of a departure from the lane when the wakefulness level and the vehicle speed both decrease.
  • the drive assist means may execute the drive assist by recognizing the lane in which the vehicle is traveling, determining whether the vehicle will move out of the lane based on positional relationship between the lane and the vehicle, and applying a corrective steering torque to prevent the vehicle from moving out of the lane.
  • the drive assist may thus include applying a corrective steering torque to prevent the vehicle from moving out of the lane, and relaxing the limitation of the drive assist according to the wakefulness level.
  • the drive assist may be appropriately executed even when the wakefulness level decreases and the vehicle speed is at or below the minimum operational threshold speed. Thus, a steering force may be applied to prevent the vehicle form moving out of the lane when the wakefulness level and the vehicle speed both decrease.
  • the wakefulness level determination means may acquire a facial image of the driver, and determines the level of wakefulness of the driver based on an angle of the face of the driver. This allows to determine, for example, that the wakefulness level is high when the driver is facing forward of the vehicle, and that the wakefulness level is low when the driver is facing downward.
  • the wakefulness level determination means may determine that the wakefulness level is higher when the driver (D) is facing forward of the vehicle than when the driver (D) is facing down.
  • the wakefulness level determination means may determine the wakefulness level based on a blood pressure or a brain wave activity of the driver (D).
  • FIG. 1 is a system configuration diagram showing a lane departure warning system in accordance with an embodiment of the present invention
  • FIG. 2 is a graph showing an example of how a minimum operational threshold speed is set according to the level of wakefulness of a driver
  • FIG. 3 is a flowchart showing a drive-assist limitation operation executed by a lane departure warning ECU.
  • FIG. 4 is a time chart showing the relationship among the wakefulness level, the vehicle speed, the minimum operational threshold speed, the number of stops, and the operation state.
  • FIG. 1 is a system configuration diagram showing a lane departure warning system 100 in accordance with an embodiment of the present invention.
  • the lane departure warning system 100 shown in FIG. 1 recognizes the lane that the vehicle is traveling, determines whether the vehicle will move out of the lane (lane marker) based on the positions of the lane and the vehicle, and outputs a warning when it is determined that the vehicle will move out of the lane.
  • the lane departure warning system 100 includes a lane departure warning electronic control unit (hereinafter referred to as "lane departure warning ECU") 1.
  • the lane departure warning ECU 1 is made up of a CPU for operating an operation, a ROM and a RAM as a storage section, an input signal circuit, an output signal circuit, a power source circuit, and so forth.
  • the lane departure warning system 100 has a facial image acquisition camera 2 that acquires a facial image of a driver D, a facial image processing electronic control unit (hereinafter referred to as "facial image processing ECU") 3 that processes the signal from the facial image acquisition camera 2, an forward-image acquisition camera 4 that acquires an image of the forward view of the vehicle, an forward image processing electronic control unit (hereinafter referred to as “forward image processing ECU”) 5 that processes the signal from the forward-image acquisition camera 4, a vehicle speed sensor 6 that detects the vehicle speed, and a steering torque sensor 7 that detects the steering torque.
  • Output signals from the facial image processing ECU 3, the forward image processing ECU 5, the vehicle speed sensor 6, and the steering torque sensor 7 are input to the lane departure warning ECU 1.
  • a warning device 8 for outputting a warning sound is electrically connected to the lane departure warning ECU 1.
  • the facial image acquisition camera 2 is installed, for example on the upper surface of a steering column cover 9, to acquire a facial image of the driver D.
  • the facial image processing ECU 3 may function as wakefulness level determination means that recognizes the facial image of the driver D by image processing based on the input signal, detects the angle of the face of the driver D, and determines the level of wakefulness of the driver D based on the face angle.
  • the facial image processing ECU 3 determines that the wakefulness level is high when the driver D is facing forward of the vehicle, and determines that the wakefulness level is low when the driver D is facing downward.
  • the forward-image acquisition camera 4 is placed in the front centre part of the cabin of the vehicle to acquire an image of the road ahead of the vehicle through the windshield (windscreen).
  • the forward image processing ECU 5 detects markings that define both ends of the lane in which the vehicle is traveling (which may be white or yellow lines drawn on the road, or blocks placed on or embedded in the road, and which will hereinafter referred to as "lane markings") by processing image information output by the forward-image acquisition camera 4, and recognizes the lane.
  • the lane departure warning ECU 1 forecasts the track that the vehicle will follow based on the respective output signals from the forward image processing ECU 5, the vehicle speed sensor 6, and the steering torque sensor 7, and the lane departure warning ECU 1 compares the forecast track with the positions of the lane markings recognized by the forward image processing ECU 5to determine whether the vehicle will move out of the lane in which the vehicle is traveling.
  • the lane departure warning ECU 1 provides drive assist , that is outputting a lane departure warning (hereinafter referred to as "LDW”) to the warning device 8, when it is determined that the vehicle will move out of the lane in which the vehicle is traveling.
  • LDW lane departure warning
  • the lane departure warning ECU 1 and the warning device 8 may function as drive assist means of the present invention for providing drive assist to the driver while driving the vehicle.
  • the drive assist in accordance with this embodiment includes an LDW.
  • the drive assist in accordance with the present invention may include other type of assists, and may be a combination of other type of assists and an LDW.
  • the lane departure warning ECU 1 may function as the drive-assist limitation means of the present invention for limiting the operation of an LDW device (hereinafter referred to as "LDWD") for issuing an LDW, when the vehicle speed is at or below a minimum operational threshold speed, and may execute a drive- assist limitation process.
  • the lane departure warning ECU 1 has a stop counter for counting the number of times when the vehicle speed is at or below the minimum operational threshold speed (for example, the lapse of a unit period is counted as once) to stop the operation of the LDWD when the number of stops reaches a predetermined acceptable number (for example, ten).
  • the LDWD is included in the lane departure warning ECU 1.
  • the lane departure warning ECU 1 can relax the limitation of the operation of the LDWD, when the wakefulness level decreases, by variably setting the minimum operational threshold speed according to the wakefulness level. Specifically, a lower minimum operational threshold speed is set lower when the wakefulness level is low than when the wakefulness level is high.
  • FIG. 2 is a graph showing an example of setting the minimum operational threshold speed in accordance with the wakefulness level.
  • the vertical axis represents the minimum operational threshold speed
  • the horizontal axis represents the wakefulness level.
  • Graph Ll shows changes in the minimum operational threshold speed in accordance with the wakefulness level.
  • the minimum operational threshold speed is set to Vi when the wakefulness level is high, set as low as the wakefulness level decreases, and set to Vo (Vo ⁇ Vi) which is the lowest value when the wakefulness level decreases to a constant level.
  • the ROM of the lane departure warning ECU 1 stores data (a map) for setting the minimum operational threshold speed and so forth, in addition to a programme that enables the CPU to operate.
  • the "drive-assist limitation operation" executed by the lane departure warning ECU 1 will be described with reference to the flowchart of FIG. 3.
  • step 1 the lane departure warning ECU 1 determines whether the LDWD is operating. When the LDWD is operating, the operation proceeds to step 2. When the LDWD is not operating, the operation ends. The determination as to whether the LDWD is operating may be based on, for example, whether the driver has operated a switch or the like.
  • step 2 the lane departure warning ECU 1 sets the minimum operational threshold speed for the LDWD.
  • the lane departure warning ECU 1 refers to the map stored in the storage section to set the minimum operational threshold speed in accordance with the wakefulness level.
  • step 3 the lane departure warning ECU 1 determines whether the vehicle speed is at or below the minimum operational threshold speed set in step 2. When it is determined that the vehicle speed is at or below the minimum operational threshold speed, the operation proceeds to step 6. When it is determined that the vehicle speed is above the minimum operational threshold speed, the operation proceeds to step 4.
  • step 4 the lane departure warning ECU 1 determines whether the number of stops is one or more. When the number of stops is zero, the operation ends. When the number of stops is one or more, the operation proceeds to step 5, where the number of stops is decreased by one before the operation is ended.
  • step 6 the lane departure warning ECU 1 increases the number of stops by one. Then, in step 7, the lane departure warning ECU 1 determines whether the number of stops has exceeded the predetermined acceptable number (for example, ten). When the number of stops is below the predetermined acceptable number, the operation ends. When the number of stops is more than the predetermined acceptable number, the operation proceeds to step 8. In step S, the lane departure warning ECU 1 stops (limits) the operation of the LDWD. Subsequently, in step 9, the lane departure warning ECU 1 resets the number of stops to zero, before the operation is ended.
  • the predetermined acceptable number for example, ten
  • FIG. 4 is a time chart showing the relationship among the wakefulness level, the vehicle speed, the minimum operational threshold speed, the number of stops, and the operation state of the LDWD.
  • the horizontal axis represents time
  • graph L2 shows changes in the wakefulness level
  • graph L3 in solid line shows changes in the minimum operational threshold speed
  • graph L4 in broken line shows changes in the vehicle speed
  • graph L5 shows increase and decrease in the number of stops
  • graph L6 shows the operational state of the LDWD by ON or OFF).
  • the wakefulness level represented by graph L2 starts decreasing at point A, and becomes a minimum at point B, before increasing.
  • the minimum operational threshold speed represented by graph L3 changes according to the wakefulness level.
  • the vehicle speed represented by graph L4 is above the minimum operational threshold speed at the start, and it decreases beyond the minimum operational threshold speed after point D, and increases beyond the minimum operational threshold speed again after point E.
  • the number of stops represented by graph L5 starts increasing at point F, which corresponds to point D, and starts decreasing at point G, which corresponds to point E.
  • the operational state of the LDWD represented by graph L6 is "ON" all through the time.
  • the minimum operational threshold speed is a constant value.
  • the operation of the LDWD is limited (turned OFF) after point H where the vehicle speed is lower than V 1 which is below the minimum operational threshold speed. Because the operation of the LDWD is not limited in FIG. 4, a warning sound is output (LDW) when there is a possibility that the vehicle will move out of the lane.
  • the wakefulness level is determined, and the minimum operational threshold speed is changed in accordance with the wakefulness level such that the minimum operational threshold speed is reduced as the wakefulness level decreases.
  • the minimum operational threshold speed is changed in accordance with the wakefulness level such that the minimum operational threshold speed is reduced as the wakefulness level decreases.
  • the stop counter counts the number of stops (unit periods for which the vehicle speed is below the minimum operational threshold speed), and the operation of the LDWD is stopped when the number of stops reaches or exceeds the predetermined acceptable number.
  • the drive assist may be stopped when the vehicle speed is at or below the minimum operational threshold speed.
  • the predetermined acceptable number of stops may be changed in accordance with the wakefulness level.
  • the predetermined acceptable number may be increased when the wakefulness level is low compared to that when the wakefulness level is high so as to relax the limitation of the drive assist.
  • the minimum operational threshold speed is lowered as the wakefulness level decreases.
  • the limitation of the drive assist may be canceled when the wakefulness level is at or below a predetermined reference value. This allows to continue the operation of the drive assist regardless of the vehicle speed when the wakefulness level decreases.
  • the drive assist system is applied to a lane departure warning system.
  • the present invention may be applied to a drive assist system for providing other type of drive assists.
  • a lane keeping assist system that provides drive assist by recognizing the lane in which the vehicle is traveling, determining whether the vehicle will move out of the lane based on the positional relationship between the lane and the vehicle, and applying a corrective steering torque to prevent a departure when it is determined that the vehicle will move out of the lane.
  • a facial image of the driver is acquired, and the wakefulness level is determined based on the angle of the face. Alternatively, the level of wakefulness of the driver may be determined in other ways.
  • the wakefulness level may be determined using biological information of the driver such as blood pressure or brain wave activity.
  • biological information of the driver such as blood pressure or brain wave activity.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Business, Economics & Management (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Emergency Management (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)

Abstract

La présente invention concerne un système de direction assistée comprenant un mécanisme de direction assistée offrant une fonction de direction assistée à un conducteur (D), et un mécanisme de limitation de direction assistée permettant de limiter la direction assistée lorsque la vitesse du véhicule est inférieure ou égale à un seuil minimum de vitesse opérationnelle. Le système de direction assistée comprend également un mécanisme de détermination de degré d'alerte permettant de déterminer le degré d'alerte du conducteur (D). La limitation de la direction assistée est atténuée en fonction du degré d'alerte du conducteur.
PCT/IB2007/004236 2006-12-12 2007-12-11 Système et procédé de direction assistée WO2008072089A2 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN2007800445287A CN101547819B (zh) 2006-12-12 2007-12-11 驾驶辅助系统及方法
US12/310,120 US20090198415A1 (en) 2006-12-12 2007-12-11 Drive assist system and method
EP07859280A EP2102050B1 (fr) 2006-12-12 2007-12-11 Système et procédé de direction assistée

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2006-334866 2006-12-12
JP2006334866A JP4240118B2 (ja) 2006-12-12 2006-12-12 運転支援装置

Publications (2)

Publication Number Publication Date
WO2008072089A2 true WO2008072089A2 (fr) 2008-06-19
WO2008072089A3 WO2008072089A3 (fr) 2008-08-07

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ID=39295951

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2007/004236 WO2008072089A2 (fr) 2006-12-12 2007-12-11 Système et procédé de direction assistée

Country Status (5)

Country Link
US (1) US20090198415A1 (fr)
EP (1) EP2102050B1 (fr)
JP (1) JP4240118B2 (fr)
CN (1) CN101547819B (fr)
WO (1) WO2008072089A2 (fr)

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CN101547819A (zh) 2009-09-30
EP2102050B1 (fr) 2013-02-27
EP2102050A2 (fr) 2009-09-23
WO2008072089A3 (fr) 2008-08-07
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